chernoff.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Joana Plewnia ( uhfpm at student dot kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <algorithm>
#include <map>
#include <vector>
 
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
 
namespace armarx::aron::similarity::chernoff
{
    double compute_similarity(const aron::data::NDArrayPtr p1, const aron::data::NDArrayPtr p2);
    
    armarx::aron::data::NDArray normalize_ndarray(armarx::aron::data::NDArrayPtr array, int i);
 
    std::vector<double> calculate_mean_values(armarx::aron::data::NDArray array);
 
    std::vector<std::vector<double>> calculate_covariance_matrix(armarx::aron::data::NDArray array,
                                                                 std::vector<double> mean);
 
    double calculate_bhattacharyya_distance(std::vector<double> mean_one, std::vector<double> mean_two,
                                            std::vector<std::vector<double>> covariance_one,
                                            std::vector<std::vector<double>> covariance_two);
}